version: 66.11
glider: 187
mission: 2
dive: 693
start: 3 14 113 13 33 28
data:
$ID,187
$MISSION,2
$DIVE,693
$N_DIVES,0
$D_SURF,4
$D_FLARE,3
$D_TGT,990
$D_ABORT,1040
$D_NO_BLEED,200
$D_BOOST,4
$T_BOOST,0
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,470
$T_MISSION,520
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,10
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-1
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-7
$MAX_BUOY,140
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51761
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0031000001
$HD_B,0.0093
$HD_C,4.5000001e-05
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,4736
$TGT_DEFAULT_LON,-12218
$TGT_AUTO_DEFAULT,0
$SM_CC,300
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,0
$N_NOCOMM,3
$NOCOMM_ACTION,163
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-1588911.8
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,155
$PITCH_MAX,3970
$C_PITCH,3195
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,32
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,165
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,236
$ROLL_MAX,3800
$ROLL_DEG,40
$C_ROLL_DIVE,2200
$C_ROLL_CLIMB,2325
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,41
$R_STBD_OVSHOOT,26
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,470
$VBD_MAX,3960
$C_VBD,2794
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.00039999999
$VBD_PUMP_AD_RATE_SURFACE,6
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,50
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,150
$AH0_10V,100
$MINV_24V,20
$MINV_10V,9.5
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-61.06522
$PRESSURE_SLOPE,0.0001138132
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,4
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,12
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,0
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,4
$ALTIM_SENSITIVITY,3
$XPDR_VALID,1
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0.69999999
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,20
$DEVICE3,83
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043543722
$SEABIRD_T_H,0.00062483409
$SEABIRD_T_I,2.3277114e-05
$SEABIRD_T_J,2.4402393e-06
$SEABIRD_C_G,-9.9786949
$SEABIRD_C_H,1.1107863
$SEABIRD_C_I,-0.0017547003
$SEABIRD_C_J,0.0002234884
$GPS1,140313,132536,4735.458,-12539.444,39,0.9,39,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.18
$_SM_ANGLEo,-75.7
$GPS2,140313,133255,4735.472,-12539.430,16,1.2,16,18.7
$SPEED_LIMITS,0.122,0.210
$TGT_NAME,OFFSHORE
$TGT_LATLONG,4700.000,-12700.000
$TGT_RADIUS,2500.000
$KALMAN_CONTROL,-0.160,-0.151
$KALMAN_X,28840.3,-242.5,2380.9,-124483.9,-7867.0
$KALMAN_Y,16218.2,688.6,-1323.7,-71650.8,4158.7
$MHEAD_RNG_PITCHd_Wd,222.3,121128,-13.3,-7.021,-18.50
$D_GRID,1000
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors,pitch_volts,roll_volts,vbd_volts
$STATE,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-0.47,-136.3,0.0,0.0,0,88,0.00,0.00,-68.03,0.000,2,0.000,0.000,114,2191,2785,0,0,0,0,0,0,28.83,28.83,28.83
$GC,92,-0.47,-136.3,3.2,-2.4,12,124,11.68,2.22,-12.95,0.000,4,0.214,0.063,3034,789,3352,0,0,0,0,0,0,24.47,25.38,26.23
$GC,194,-0.47,-136.3,21.6,-13.9,30,201,0.00,2.22,0.00,0.000,6,0.000,0.052,3026,2198,3354,0,0,0,0,0,0,28.83,25.33,28.83
$GC,507,-0.47,-136.3,72.4,-15.8,91,514,0.00,2.30,0.00,0.000,4,0.000,0.062,3015,3618,3354,0,0,0,0,0,0,28.83,25.23,28.83
$GC,532,-0.47,-136.3,76.5,-16.0,95,540,0.00,2.20,0.00,0.000,6,0.000,0.044,3015,2201,3354,0,0,0,0,0,0,28.83,25.56,28.83
$GC,846,-0.47,-136.3,118.0,-9.6,156,852,0.00,0.00,0.00,0.000,6,0.000,0.000,3015,2197,3354,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1155,-0.47,-136.3,150.5,-10.8,179,1165,0.00,2.25,0.00,0.000,4,0.000,0.050,3015,798,3354,0,0,0,0,0,0,28.83,25.39,28.83
$GC,1235,-0.47,-136.3,159.2,-10.9,187,1246,0.12,2.28,0.00,0.000,6,0.137,0.050,3041,2203,3354,0,0,0,0,0,0,25.25,25.39,28.83
$GC,1546,-0.47,-136.3,185.7,-8.5,208,1554,0.00,2.30,0.00,0.000,4,0.000,0.062,3032,3604,3354,0,0,0,0,0,0,28.83,25.22,28.83
$GC,1635,-0.47,-136.3,193.6,-8.8,217,1644,0.00,2.25,0.00,0.000,6,0.000,0.042,3032,2191,3355,0,0,0,0,0,0,28.83,25.59,28.83
$GC,1961,-0.47,-136.3,224.3,-9.6,235,1962,0.00,0.00,0.00,0.000,6,0.000,0.000,3032,2190,3354,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2260,-0.47,-136.3,250.3,-8.3,250,2266,0.00,2.38,0.00,0.000,4,0.000,0.062,3022,3614,3354,0,0,0,0,0,0,28.83,25.20,28.83
$GC,2301,-0.47,-136.3,253.7,-8.4,252,2306,0.00,2.25,0.00,0.000,6,0.000,0.044,3021,2205,3354,0,0,0,0,0,0,28.83,25.58,28.83
$GC,2622,-0.47,-136.3,280.8,-8.7,268,2623,0.00,0.00,0.00,0.000,6,0.000,0.000,3021,2202,3354,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2920,-0.47,-136.3,308.9,-9.4,283,2921,0.00,0.00,0.00,0.000,6,0.000,0.000,3021,2202,3354,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3222,-0.47,-136.3,336.9,-9.3,298,3223,0.00,0.00,0.00,0.000,6,0.000,0.000,3022,2202,3354,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3521,-0.47,-136.3,365.0,-9.4,313,3522,0.00,0.00,0.00,0.000,6,0.000,0.000,3022,2202,3354,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3821,-0.47,-136.3,392.6,-9.1,328,3826,0.00,2.38,0.00,0.000,4,0.000,0.063,3012,3612,3354,0,0,0,0,0,0,28.83,25.17,28.83
$GC,3848,-0.47,-136.3,394.3,-8.9,329,3853,0.12,2.30,0.00,0.000,6,0.122,0.044,3048,2190,3354,0,0,0,0,0,0,25.37,25.53,28.83
$GC,4171,-0.47,-136.3,416.1,-6.1,341,4176,0.00,2.38,0.00,0.000,4,0.000,0.064,3040,3608,3354,0,0,0,0,0,0,28.83,25.14,28.83
$GC,4230,-0.47,-136.3,419.9,-6.1,343,4236,0.00,2.25,0.00,0.000,6,0.000,0.044,3040,2201,3354,0,0,0,0,0,0,28.83,25.53,28.83
$GC,4560,-0.47,-136.3,439.9,-6.3,354,4562,0.00,0.00,0.00,0.000,6,0.000,0.000,3040,2200,3354,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4861,-0.47,-136.3,462.6,-7.7,364,4863,0.00,0.00,0.00,0.000,6,0.000,0.000,3040,2199,3354,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5160,-0.47,-136.3,485.8,-7.4,374,5161,0.00,0.00,0.00,0.000,6,0.000,0.000,3040,2199,3353,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5460,-0.47,-136.3,507.8,-7.2,384,5466,0.00,2.38,0.00,0.000,4,0.000,0.064,3030,3606,3353,0,0,0,0,0,0,28.83,25.10,28.83
$GC,5498,-0.47,-136.3,510.1,-7.4,385,5502,0.00,2.30,0.00,0.000,6,0.000,0.045,3030,2188,3353,0,0,0,0,0,0,28.83,25.50,28.83
$GC,5811,-0.47,-136.3,534.7,-7.6,396,5816,0.00,2.38,0.00,0.000,4,0.000,0.064,3020,3605,3353,0,0,0,0,0,0,28.83,25.10,28.83
$GC,5848,-0.47,-136.3,537.0,-7.7,397,5852,0.00,2.28,0.00,0.000,6,0.000,0.046,3020,2198,3352,0,0,0,0,0,0,28.83,25.49,28.83
$GC,6161,-0.47,-136.3,563.7,-8.4,408,6166,0.00,2.38,0.00,0.000,4,0.000,0.065,3011,3611,3352,0,0,0,0,0,0,28.83,25.08,28.83
$GC,6191,-0.47,-136.3,566.0,-8.3,409,6197,0.08,2.28,0.00,0.000,6,0.100,0.047,3041,2197,3352,0,0,0,0,0,0,25.29,25.48,28.83
$GC,6521,-0.47,-136.3,586.7,-6.0,420,6526,0.00,2.38,0.00,0.000,4,0.000,0.066,3034,3607,3352,0,0,0,0,0,0,28.83,25.06,28.83
$GC,6550,-0.47,-136.3,588.6,-6.1,421,6556,0.00,2.28,0.00,0.000,6,0.000,0.046,3034,2194,3352,0,0,0,0,0,0,28.83,25.48,28.83
$GC,6882,-0.47,-136.3,612.1,-7.1,432,6883,0.00,0.00,0.00,0.000,6,0.000,0.000,3034,2192,3351,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7180,-0.47,-136.3,634.1,-7.3,442,7186,0.00,2.40,0.00,0.000,4,0.000,0.066,3023,3620,3351,0,0,0,0,0,0,28.83,25.05,28.83
$GC,7210,-0.47,-136.3,636.3,-7.3,443,7216,0.00,2.30,0.00,0.000,6,0.000,0.046,3023,2192,3351,0,0,0,0,0,0,28.83,25.46,28.83
$GC,7542,-0.47,-136.3,659.5,-6.6,454,7543,0.00,0.00,0.00,0.000,6,0.000,0.000,3023,2190,3350,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7841,-0.47,-136.3,680.0,-7.1,464,7846,0.00,2.38,0.00,0.000,4,0.000,0.066,3013,3605,3350,0,0,0,0,0,0,28.83,25.03,28.83
$GC,7878,-0.47,-136.3,682.3,-7.2,465,7882,0.00,2.28,0.00,0.000,6,0.000,0.046,3013,2199,3350,0,0,0,0,0,0,28.83,25.44,28.83
$GC,8191,-0.47,-136.3,706.0,-7.1,476,8196,0.00,2.25,0.00,0.000,4,0.000,0.052,3013,790,3350,0,0,0,0,0,0,28.83,25.25,28.83
$GC,8259,-0.47,-136.3,710.5,-7.2,478,8266,0.12,2.33,0.00,0.000,6,0.133,0.055,3041,2205,3350,0,0,0,0,0,0,25.09,25.19,28.83
$GC,8582,-0.47,-136.3,732.4,-6.8,489,8586,0.00,2.35,0.00,0.000,4,0.000,0.067,3041,3611,3350,0,0,0,0,0,0,28.83,25.01,28.83
$GC,8629,-0.47,-136.3,734.5,-6.8,490,8633,0.00,2.30,0.00,0.000,6,0.000,0.047,3041,2193,3350,0,0,0,0,0,0,28.83,25.44,28.83
$GC,8932,-0.47,-136.3,756.4,-6.9,500,8936,0.00,2.25,0.00,0.000,4,0.000,0.054,3040,794,3349,0,0,0,0,0,0,28.83,25.20,28.83
$GC,8948,-0.47,-136.3,756.4,-6.9,500,8953,0.00,2.30,0.00,0.000,6,0.000,0.054,3032,2202,3349,0,0,0,0,0,0,28.83,25.21,28.83
$GC,9251,-0.47,-136.3,777.7,-6.3,510,9256,0.00,2.35,0.00,0.000,4,0.000,0.067,3026,3607,3349,0,0,0,0,0,0,28.83,25.00,28.83
$GC,9342,-0.47,-136.3,783.5,-6.4,513,9346,0.00,2.25,0.00,0.000,6,0.000,0.047,3026,2207,3348,0,0,0,0,0,0,28.83,25.44,28.83
$GC,9671,-0.47,-136.3,802.9,-5.9,524,9676,0.00,2.28,0.00,0.000,4,0.000,0.054,3026,799,3348,0,0,0,0,0,0,28.83,25.19,28.83
$GC,9709,-0.47,-136.3,804.8,-6.0,525,9713,0.00,2.30,0.00,0.000,6,0.000,0.054,3026,2199,3348,0,0,0,0,0,0,28.83,25.18,28.83
$GC,10023,-0.47,-136.3,823.0,-5.8,536,10026,0.00,2.33,0.00,0.000,4,0.000,0.067,3018,3620,3348,0,0,0,0,0,0,28.83,24.97,28.83
$GC,10120,-0.47,-136.3,828.6,-6.0,539,10124,0.00,2.33,0.00,0.000,6,0.000,0.047,3018,2188,3348,0,0,0,0,0,0,28.83,25.41,28.83
$GC,10432,-0.47,-136.3,849.0,-6.6,550,10433,0.00,0.00,0.00,0.000,6,0.000,0.000,3018,2186,3348,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10732,-0.47,-136.3,871.1,-7.4,560,10737,0.00,2.40,0.00,0.000,4,0.000,0.066,3008,3614,3347,0,0,0,0,0,0,28.83,24.97,28.83
$GC,10780,-0.47,-136.3,873.5,-7.5,561,10785,0.12,2.30,0.00,0.000,6,0.125,0.045,3044,2190,3347,0,0,0,0,0,0,25.26,25.44,28.83
$GC,11083,-0.47,-136.3,893.1,-5.9,571,11084,0.00,0.00,0.00,0.000,6,0.000,0.000,3044,2189,3347,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11382,-0.47,-136.3,911.0,-6.1,581,11388,0.00,2.40,0.00,0.000,4,0.000,0.067,3036,3613,3346,0,0,0,0,0,0,28.83,24.94,28.83
$GC,11412,-0.47,-136.3,912.8,-6.0,582,11418,0.00,2.28,0.00,0.000,6,0.000,0.048,3037,2205,3347,0,0,0,0,0,0,28.83,25.39,28.83
$GC,11742,-0.47,-136.3,933.1,-6.1,593,11743,0.00,0.00,0.00,0.000,6,0.000,0.000,3035,2202,3346,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12043,-0.47,-136.3,951.4,-5.8,603,12047,0.00,2.35,0.00,0.000,4,0.000,0.068,3026,3625,3346,0,0,0,0,0,0,28.83,24.91,28.83
$GC,12090,-0.47,-136.3,953.2,-5.8,604,12094,0.00,2.33,0.00,0.000,6,0.000,0.048,3027,2197,3346,0,0,0,0,0,0,28.83,25.37,28.83
$GC,12392,-0.47,-136.3,971.5,-5.6,614,12393,0.00,0.00,0.00,0.000,6,0.000,0.000,3026,2195,3346,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12694,-0.47,-136.3,987.2,-5.0,624,12695,0.00,0.00,0.00,0.000,6,0.000,0.000,3026,2195,3346,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,12749,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12749,begin apogee
$GC,12756,-0.22,0.0,990.5,-5.0,626,12888,0.28,0.00,126.32,1.159,6,0.105,0.000,3122,2336,2793,0,0,0,0,0,0,25.52,28.83,22.43
$STATE,12889,end apogee,CONTROL_FINISHED_OK
$STATE,12889,begin climb
$GC,12892,0.47,136.3,993.2,0.0,630,13034,0.68,2.58,134.20,1.125,4,0.070,0.067,3351,3726,2237,0,0,0,0,0,0,24.41,23.44,21.73
$GC,13082,0.47,136.3,983.2,7.5,637,13088,0.00,2.42,0.00,0.000,6,0.000,0.048,3362,2323,2233,0,0,0,0,0,0,28.83,24.24,28.83
$GC,13403,0.47,136.3,951.6,9.5,648,13408,0.00,2.38,0.00,0.000,4,0.000,0.068,3362,3728,2228,0,0,0,0,0,0,28.83,25.29,28.83
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$STATE,24714,end climb,SURFACE_DEPTH_REACHED
$STATE,24714,begin surface coast
$FINISH,1.2,1.013629
$STATE,24745,end surface coast,CONTROL_FINISHED_OK
$STATE,24745,begin surface
$SM_CCo,24825,0.00,0.000,0,0,769,496.73
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$IRIDIUM_FIX,4719.74,-12537.46,140313,060609
$TT8_MAMPS,0.026964,0.026964
$HUMID,47.71
$INTERNAL_PRESSURE,9.01087
$TCM_TEMP,18.80
$XPDR_PINGS,5
$24V_AH,21.7,97.446
$10V_AH,9.7,73.800
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,22.225,232.050,571.100,0.000,0.000,25.658,34.882,219.783,1.250,0.000,17.429,3340.126,18190.594,877.334,2379.510,463.769,0.000,2089.671,0.000,2076.024,0.000,0.535,0.000
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$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,872.446,625.187,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,296928
$DATA_FILE_SIZE,70220,1268
$CAP_FILE_SIZE,193682,0
$CFSIZE,260165632,199278592
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.124, 83.1,1
$GPS,140313,202834,4733.956,-12543.116,38,1.4,42,18.7